43 lines
1.3 KiB
C++
43 lines
1.3 KiB
C++
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping/submaps.h"
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#include <cmath>
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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// Converts the given log odds to a probability. This function is known to be
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// very slow, because expf is incredibly slow.
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inline float Expit(float log_odds) {
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const float exp_log_odds = std::exp(log_odds);
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return exp_log_odds / (1.f + exp_log_odds);
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}
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TEST(SubmapsTest, LogOddsConversions) {
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EXPECT_NEAR(Expit(Logit(kMinProbability)), kMinProbability, 1e-6);
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EXPECT_NEAR(Expit(Logit(kMaxProbability)), kMaxProbability, 1e-6);
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EXPECT_NEAR(Expit(Logit(0.5)), 0.5, 1e-6);
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}
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} // namespace
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} // namespace mapping
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} // namespace cartographer
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